main.c

这是我用stm32做的一个CAN测试程序。有兴趣的朋友可以看看。文件里并包含CAN协议

/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name          : main.c
* Author             : MCD Application Team
* Date First Issued  : 05/21/2007
* Description        : Main program body
********************************************************************************
* History:
* 05/21/2007: V0.3
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"

/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;

/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
vu32 ret; /* for return of the interrupt handling */
volatile TestStatus TestRx;
ErrorStatus HSEStartUpStatus;

/* Private functions ---------------------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
TestStatus CAN_Polling(void);
int count=0;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
u16 i=0;
u8 TransmitMailbox;
void delay(unsigned int nCount)	{

  for(; nCount != 0; nCount--);
}
/*******************************************************************************
* Function Name  : main
* Description    : Main program
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
int main(void)
{

#ifdef DEBUG
  debug();
#endif

  /* System Clocks Configuration */
  RCC_Configuration();

  /* NVIC Configuration */
  NVIC_Configuration();
  
  /* GPIO ports pins Configuration */
  GPIO_Configuration();
  CAN_Polling();
  while(1)
  {
 
   count++;
   delay(0xFFFF) ;
   CAN_Polling();
   TransmitMailbox=CAN_Transmit(&TxMessage);
    i=0;
   while((CAN_TransmitStatus(TransmitMailbox)!=CANTXOK)&&(i!=0xFFF))
    i++;
	if(count&1)
     GPIO_SetBits(GPIOB, GPIO_Pin_11);
  else 
    GPIO_ResetBits(GPIOB, GPIO_Pin_11);	 

  /*i=0;
  while((CAN_MessagePending(CAN_FIFO0)<1)&&(i!=0xFFF))
    i++;  */

  /* receive */
  /*if(i>=0xFFF)
   GPIO_SetBits(GPIOB, GPIO_Pin_14);

  RxMessage.StdId=0x00;
  RxMessage.IDE=CAN_ID_STD;
  RxMessage.DLC=0;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;
  CAN_Receive(CAN_FIFO0, &RxMessage);

  if (RxMessage.StdId!=0x11) GPIO_SetBits(GPIOB, GPIO_Pin_13);

  if (RxMessage.IDE!=CAN_ID_STD) GPIO_SetBits(GPIOB, GPIO_Pin_14);

  if (RxMessage.DLC==4) GPIO_SetBits(GPIOB, GPIO_Pin_15);

  if (RxMessage.Data[0]==0x55) GPIO_SetBits(GPIOB, GPIO_Pin_10);  */
	  /* CAN transmit at 100Kb/s and receive by polling in loopback mode*/
  delay(0xFFFF) ;
  
   GPIO_ResetBits(GPIOB, GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15|GPIO_Pin_10);
  }
}

/*******************************************************************************
* Function Name  : RCC_Configuration
* Description    : Configures the different system clocks.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void RCC_Configuration(void)
{

 RCC_DeInit();


  RCC_HSEConfig(RCC_HSE_ON);

  HSEStartUpStatus = RCC_WaitForHSEStartUp();

  if(HSEStartUpStatus == SUCCESS)
  {

    RCC_HCLKConfig(RCC_SYSCLK_Div1); 

    RCC_PCLK2Config(RCC_HCLK_Div1); 

    RCC_PCLK1Config(RCC_HCLK_Div1);


    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);


    RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);


    while(RCC_GetSYSCLKSource() != 0x04)
    {
    }
  }	

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);

  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);

  GPIO_PinRemapConfig(GPIO_Remap2_CAN, ENABLE);// Remap1 of CAN
}

/*******************************************************************************
* Function Name  : GPIO_Configuration
* Description    : Configures the different GPIO ports.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  /* Configure PC.06, PC.07, PC.08 and PC.09 as Output push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15|GPIO_Pin_10;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
 
  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
  
  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
    
}

/*******************************************************************************
* Function Name  : NVIC_Configuration
* Description    : Configures the NVIC and Vector Table base address.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void NVIC_Configuration(void)
{
//  NVIC_InitTypeDef NVIC_InitStructure;

#ifdef  VECT_TAB_RAM  
  /* Set the Vector Table base location at 0x20000000 */ 
  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0); 
#else  /* VECT_TAB_FLASH  */
  /* Set the Vector Table base location at 0x08000000 */ 
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);   
#endif

 
}
/*******************************************************************************
* Function Name  : CAN_Polling
* Description    : Configures the CAN and transmit and receive by polling
* Input          : None
* Output         : None
* Return         : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/

TestStatus CAN_Polling(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;


  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE;
  CAN_InitStructure.CAN_ABOM=DISABLE;
  CAN_InitStructure.CAN_AWUM=DISABLE;
  CAN_InitStructure.CAN_NART=DISABLE;
  CAN_InitStructure.CAN_RFLM=DISABLE;
  CAN_InitStructure.CAN_TXFP=DISABLE;
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal ;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=5;
  CAN_Init(&CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* transmit */
  TxMessage.StdId =0x2;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.IDE=CAN_ID_STD;
  TxMessage.DLC=8;
  for(i=0;i<8;i++)
  TxMessage.Data[i]=i;
  if(count&1)
     GPIO_SetBits(GPIOB, GPIO_Pin_12);
  else 
    GPIO_ResetBits(GPIOB, GPIO_Pin_12);
 


  //while((CAN_MessagePending(CAN_FIFO0)<1)&&(i!=0xFF))
   // i++;

  /* receive */
 /* RxMessage.StdId=0x00;
  RxMessage.IDE=CAN_ID_STD;
  RxMessage.DLC=0;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;
  CAN_Receive(CAN_FIFO0, &RxMessage);

  if (RxMessage.StdId!=0x11) return FAILED;

  if (RxMessage.IDE!=CAN_ID_STD) return FAILED;

  if (RxMessage.DLC!=2) return FAILED;

  if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE) return FAILED;	   */
  
  return PASSED; /* Test Passed */
}


#ifdef  DEBUG
/*******************************************************************************
* Function Name  : assert_failed
* Description    : Reports the name of the source file and the source line number
*                  where the assert error has occurred.
* Input          : - file: pointer to the source file name
*                  - line: assert error line source number
* Output         : None
* Return         : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{ 
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
}
#endif
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/